GCC Code Coverage Report

Line	Branch	Exec	Source
1
2			///////////////////////////////////////////////////////////////////////////////
3			// BSD 3-Clause License
4			//
5			// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh,
6			// Heriot-Watt University
7			// Copyright note valid unless otherwise stated in individual files.
8			// All rights reserved.
9			///////////////////////////////////////////////////////////////////////////////
10
11			#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_SOLVER_BASE_HPP_
12			#define BINDINGS_PYTHON_CROCODDYL_CORE_SOLVER_BASE_HPP_
13
14			#include "crocoddyl/core/solver-base.hpp"
15			#include "python/crocoddyl/core/core.hpp"
16
17			namespace crocoddyl {
18			namespace python {
19
20			class SolverAbstract_wrap : public SolverAbstract,
21			public bp::wrapper<SolverAbstract> {
22			public:
23			using SolverAbstract::cost_;
24			using SolverAbstract::d_;
25			using SolverAbstract::dfeas_;
26			using SolverAbstract::dPhi_;
27			using SolverAbstract::dPhiexp_;
28			using SolverAbstract::dV_;
29			using SolverAbstract::dVexp_;
30			using SolverAbstract::feas_;
31			using SolverAbstract::ffeas_;
32			using SolverAbstract::ffeas_try_;
33			using SolverAbstract::fs_;
34			using SolverAbstract::gfeas_;
35			using SolverAbstract::gfeas_try_;
36			using SolverAbstract::hfeas_;
37			using SolverAbstract::hfeas_try_;
38			using SolverAbstract::is_feasible_;
39			using SolverAbstract::iter_;
40			using SolverAbstract::merit_;
41			using SolverAbstract::steplength_;
42			using SolverAbstract::stop_;
43			using SolverAbstract::us_;
44			using SolverAbstract::xs_;
45
46		✗	explicit SolverAbstract_wrap(std::shared_ptr<ShootingProblem> problem)
47		✗	: SolverAbstract(problem), bp::wrapper<SolverAbstract>() {}
48		✗	~SolverAbstract_wrap() {}
49
50		✗	bool solve(const std::vector<Eigen::VectorXd>& init_xs,
51			const std::vector<Eigen::VectorXd>& init_us,
52			const std::size_t maxiter, const bool is_feasible,
53			const double reg_init) {
54		✗	return bp::call<bool>(this->get_override("solve").ptr(), init_xs, init_us,
55		✗	maxiter, is_feasible, reg_init);
56			}
57
58		✗	void computeDirection(const bool recalc = true) {
59		✗	return bp::call<void>(this->get_override("computeDirection").ptr(), recalc);
60			}
61
62		✗	double tryStep(const double step_length = 1) {
63		✗	return bp::call<double>(this->get_override("tryStep").ptr(), step_length);
64			}
65
66		✗	double stoppingCriteria() {
67		✗	stop_ = bp::call<double>(this->get_override("stoppingCriteria").ptr());
68		✗	return stop_;
69			}
70
71		✗	const Eigen::Vector2d& expectedImprovement() {
72			bp::list exp_impr =
73		✗	bp::call<bp::list>(this->get_override("expectedImprovement").ptr());
74		✗	d_ << bp::extract<double>(exp_impr[0]), bp::extract<double>(exp_impr[1]);
75		✗	return d_;
76		✗	}
77
78		✗	bp::list expectedImprovement_wrap() {
79		✗	expectedImprovement();
80		✗	bp::list exp_impr;
81		✗	exp_impr.append(d_[0]);
82		✗	exp_impr.append(d_[1]);
83		✗	return exp_impr;
84		✗	}
85			};
86
87			class CallbackAbstract_wrap : public CallbackAbstract,
88			public bp::wrapper<CallbackAbstract> {
89			public:
90		✗	CallbackAbstract_wrap()
91		✗	: CallbackAbstract(), bp::wrapper<CallbackAbstract>() {}
92		✗	~CallbackAbstract_wrap() {}
93
94		✗	void operator()(SolverAbstract& solver) {
95		✗	return bp::call<void>(this->get_override("__call__").ptr(),
96		✗	boost::ref(solver));
97			}
98			};
99
100		✗	BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(setCandidate_overloads,
101			SolverAbstract::setCandidate, 0, 3)
102
103			} // namespace python
104			} // namespace crocoddyl
105
106			#endif // BINDINGS_PYTHON_CROCODDYL_CORE_SOLVER_BASE_HPP_
107